4 papers
Temporal Learning for End-Effector Position Estimation under Aerodynamic Disturbances in Aerial Continuum Manipulation
Niloufar Amiri, Houman Masnavi, Farrokh Janabi-Sharifi
This paper investigates temporal neural networks for \mbox{end-effector} position \mbox{estimation} of an aerial continuum manipulator (ACM) operating under aerodynamic effects ind…
Dual Agent Learning Based Aerial Trajectory Tracking
Shaswat Garg, Houman Masnavi, Baris Fidan +1
This paper presents a novel reinforcement learning framework for trajectory tracking of unmanned aerial vehicles in cluttered environments using a dual-agent architecture. Traditio…
A Master-Follower Teleoperation System for Robotic Catheterization: Design, Characterization, and Tracking Control
Ali A. Nazari, Jeremy Catania, Soroush Sadeghian +4
Minimally invasive robotic surgery has gained significant attention over the past two decades. Telerobotic systems, combined with robot-mediated minimally invasive techniques, have…
Differentiable-Optimization Based Neural Policy for Occlusion-Aware Target Tracking
Houman Masnavi, Arun Kumar Singh, Farrokh Janabi-Sharifi
Tracking a target in cluttered and dynamic environments is challenging but forms a core component in applications like aerial cinematography. The obstacles in the environment not o…